Study on Tracking System of Intelligent Vehicle Based on Self-tuning Fuzzy Controller

摘要

Heading tracking is a key technology in the navigation of the intelligent vehicle. The two degrees of freedom vehicle dynamic model is established for nonholonomic vehicles in this paper. Combining the traditional fuzzy control and classical PID control theory, a controller based on self-tuning fuzzy-PID is designed, which employs the heading tracking error e and the rate of change ec as its input. The self-tuning of the parameters of PID is as well as realized in the paper, then the steering angle of front wheel δ is tuned based on PID parameters and the heading tracking is realized. Simulations and real vehicle experiments are conducted in the condition of fixed navigation angle θ p=0.5rad, 1rad, 1.5rad and variable semicircle heading tracking angles in the system. The experimental results show that the heading tracking is followed well after using the controlling algorithm proposed in the paper and it is feasible and effective.